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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Frederick Prinz Michael Schoeffler Armin Lechler Alexander Verl Robert Bosch GmbH Corporate Sector Research and Advanced Engineering Renningen Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

To increase the changeability of future production systems, assets have to provide a standardized representation of their capabilities. Therefore, the concept of I4.0 components was developed, which describes assets with an asset administration shell providing a self-description. Real-time I4.0 components, like safety critical systems or motion control applications, require a deterministic communication with bounded low latency. Moreover, they demand for redundant connections to achieve fault tolerance with respect to the network infrastructure and the components. The integration of redundancy mechanisms in realtime I4.0 components requires additional implementation and configuration effort, which has not been covered in detail yet. In this work, we extend the concept of asset administration shells to configure end-to-end redundancy between real-time I4.0 components. Thereby, we apply the new real-time communication technology Time-Sensitive Networking (TSN) with focus on the standard IEEE 802.1CB. Finally, we evaluate the performance of the redundancy implementation in terms of the transmission offset between the primary frame and its duplicate.

关键词： Real-time systems Redundancy Protocols Fault tolerant systems Standards Network interfaces

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On achieving accuracy and efficiency in Additive manufacturing: Requirements on a hybrid CAM system

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Procedia CIRP 2018年 72卷 1512-1517页

作者： Anja Elser Michael Königs Alexander Verl Michael Servos Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 70174 Stuttgart Germany Forschungsvereinigung Programmiersprachen für Fertigungseinrichtungen e.V. Theaterstraße 12 52062 Aachen Germany

The potential of additive manufacturing is increasingly investigated with regard to an application in combination with milling processes. However, for an economical use of this hybrid method, workpieces must be produced cost-efficiently and at the same time meet high quality requirements. In this paper, a combination of additive and subtractive technologies is presented, by which the demanded accuracies can be achieved. To further decrease currently high planning efforts, an existing CAM system is extended by modules for creating additional additive manufacturing steps. In this context, requirements for such a hybrid CAM system and its realization are derived and presented.

关键词： Additive manufacturing hybrid CAM path planning preprocessing hybrid manufacturing

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machines without humans—post-robotics 3

Machines without humans—post-robotics

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3rd International Conference on Robophilosophy 2018 / Transor 2018: Envisioning Robots in Society - Politics, Power, and Public Space

作者： Klein, Maike Hoher, Simon Kimpeler, Simone Lehner, Maximilian Jaensch, Florian KÜHFUß, Fabian Lehmann, Hagen Snelting, Femke Institute of Philosophy University of Stuttgart Germany Information Technologies and Systems Management University of Applied Sciences Salzburg Austria Competence Center Foresight Fraunhofer Institute for Systems and Innovation Research Austria Institute of Contemporary Arts and Media KU Linz Austria Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Freie Kunstakademie Nürtingen Germany Heriot-Watt University United Kingdom Constant United States

ISBN: (纸本)9781614999300

Debates around robots, both scientific and non-scientific, mostly put the human being in their focus. This is important and necessary to produce machines that humans can operate and interact with, and to do responsible research. We think, however, that the phenomenon of robots, and generally machines, is only fully comprehensible if we, the observers, step back and try to understand machines from another, unusual perspective: the machines themselves. © 2018 The authors and IOS Press. All rights reserved.

关键词： Human robot interaction

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Rent'n'Produce: A Social Media Platform for Cloud manufacturing

Rent'n'Produce: A Social Media Platform for Cloud Manufactur...

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2017 4th International Conference on Smart Materials and Nanotechnology in engineering (SMNE 2017)

作者： Carsten Ellwein Oliver Riedel Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart

Social media platforms have revolutionized communication and web-users behavior in the past. The cloud manufacturing paradigm is doing the same for job order and contract manufacturing in the present. This paper examines the similarities of both concepts and introduces a platform that can be perceived as a cloud manufacturing and a social media platform. Hereby, a more user-centered design was achieved to ensure user-acceptance.

关键词： Cloud manufacturing Social media

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Automated Planning of Robotic MAG Welding Based on Adaptive Gap Model

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Procedia CIRP 2017年 62卷 612-617页

作者： Alexander Kuss Thomas Dietz Felix Spenrath Alexander Verl Fraunhofer Institute for Manufacturing Engineering and Automation IPA Nobelstrasse 12 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany

This paper proposes a novel approach for automated planning of robotic MAG welding processes based on an adaptive gap model. The gap model describes the relation between welding parameters and a changing gap geometry resulting from deviations of relative part locations in a welding assembly. A matching process is performed between computer-aided design model and a measured point cloud of the welding assembly using an Iterative Closest Point algorithm to compute the actual gap geometry. Experimental validation for various gap geometries is demonstrated with an industrial robot equipped with stereo camera and welding gun indicating an increased weld quality.

关键词： Robot Welding Adaptive planning

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Workpiece and machine Design in Additive manufacturing for Multi-Axis Fused Deposition Modeling

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Procedia CIRP 2017年 60卷 229-234页

作者： Frederik Wulle Daniel Coupek Florian Schäffner Alexander Verl Felix Oberhofer Thomas Maier Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstr. 36 Stuttgart 70174 Germany Institute for Engineering Design and Industrial Design Pfaffenwaldring 9 Stuttgart 70569 Germany

Additive manufacturing (AM) technologies require innovative design paradigms and guidelines that exhaust the offered freedoms in geometry and material. The aim of the Design for Additive manufacturing is to provide design opportunities and to enhance workpiece properties taking into account constraints of the process, e.g. kinematics and limitations of print technology. Most AM applications are constrained to three-axis movements limiting the fabrication of workpieces layer by layer to one fixed building direction only. This causes limitations of strength properties, surface quality and the need of supporting structures. Multi-axis AM enables completely new design possibilities going beyond current optimization and design strategies of conventional AM workpieces. This innovation requires multiple design and manufacturing changes in the internal and external geometry of the workpiece as well as in machine and printing head technology. This paper identifies the requirements and capabilities of multi-axis AM and presents possible solutions to overcome the identified challenges. Preliminary results for multi-axis AM are described on an exemplary workpiece.

关键词： Additive manufacturing Design optimization machine tool Polymer

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Environment modeling for maintenance automation-a next-best-view approach for combining space exploration and object recognition tasks

Environment modeling for maintenance automation-a next-best-...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Christian Friedrich Viktor Zielke Marc Toussaint Armin Lechler Alexander Verl Institute of Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Institute of Machine Learning and Robotics University Stuttgart Stuttgart Germany

In order to enable robot systems to solve complex tasks autonomously, it is essential to model the environment in a sufficient way. This work describes a new approach to create a consistent environment model, using next-best-view planning which combines the optimization of the space exploration and the object recognition task. The approach is designed for the automation of maintenance tasks, which is a challenging task for autonomous robotic systems. After a general overview of the developed system, we explain the theoretic foundations for building a consistent environment model which can be used for manipulation planning. The concept is validated by means of application-oriented examples.

关键词： Solid modeling Maintenance engineering Automation Robot sensing systems Planning

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Erratum to “A Review of Research Aspects of Redundantly Actuated Parallel Robots for Enabling Further Applications” [Jun 18 1259-1269]

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IEEE/ASME Transactions on Mechatronics 2018年第5期23卷 2531-2531页

作者： Naser Mostashiri Jaspreet S. Dhupia Alexander W. Verl Weiliang Xu Department of Mechanical Engineering University of Auckland Auckland New Zealand Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

In paper, “A review of research aspects of redundantly actuated parallel robotsw for enabling further applications,” (Mostashiri, N. et al),IEEE/ASME Trans. Mechatronics,” vol. 23, no. 3, pp. 1259–1269, Jun. 2018,... 详细信息

关键词： Manipulator dynamics Parallel robots Actuators Kinematics

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Online calibration of industrial robots using inertial sensors 47

Online calibration of industrial robots using inertial senso...

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47th International Symposium on Robotics, ISR 2016

作者： Vieler, Hendrik Lechler, Armin Grimm, Jochen Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9783800742318

Industrial Robots typically have an absolute accuracy in the range of millimeters and a repeatability in the range of tenths of a millimeter. The absolute accuracy can be improved towards the repeatability of the robot by calibration. The calibration values change over time for several reasons. On the long term it can be influenced by wear, crashes and maintenance, on the short term it is mainly influenced by temperature drift. State of the art calibration is done offline at fixed times. In this paper a method for online calibration of robots for medium accuracy and an online verification for high accuracy using inertial sensors is proposed. © 2016 VDE VERLAG GMBH Berlin Offenbach.

关键词： Industrial robots

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manufacturing Task Description for Robotic Welding and Automatic Feature Recognition on Product CAD Models

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Procedia CIRP 2017年 60卷 122-127页

作者： Alexander Kuss Thomas Dietz Konstantin Ksensow Alexander Verl Fraunhofer Institute for Manufacturing Engineering and Automation IPA Nobelstrasse 12 70569 Stuttgart Germany University of Applied Sciences Schellingstr. 24 70174 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units ISW University of Stuttgart Seidenstrasse 36 70174 Stuttgart Germany

In this paper, a novel approach for an ontological representation of continuous-path manufacturing tasks is presented on the example of robotic fillet welding. The representation specifies manufacturing information and product related geometric constraints relevant for automatic program planning in robotic arc welding. The geometric constraints are transformed into simple continuous curve primitives such as lines, circular arcs and B-spline curves supporting the easy integration in robot program planning systems decoupled from a complex CAD environment. It also represents information on welding gaps along the joint geometry. Moreover, a method for automatic feature recognition based on rule- based pattern recognition is presented to automatically retrieve manufacturing information from the CAD model of the product and generate the respective manufacturing task specification. The method is evaluated in several test scenarios for welding product assemblies indicating the usability and effectiveness for automatic program planning in robotic welding.

关键词： Robot CAD model Welding

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